/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/sensor/timed_point_cloud_data.h"

#include "cartographer/transform/proto/transform.pb.h"
#include "cartographer/transform/transform.h"

namespace cartographer
{
    namespace sensor
    {

        proto::TimedPointCloudData ToProto(const TimedPointCloudData &timed_point_cloud_data)
        {
            proto::TimedPointCloudData proto;
            proto.set_timestamp(common::ToUniversal(timed_point_cloud_data.time));
            *proto.mutable_origin() = transform::ToProto(timed_point_cloud_data.origin);
            proto.mutable_point_data()->Reserve(timed_point_cloud_data.ranges.size());
            for (const TimedRangefinderPoint &range : timed_point_cloud_data.ranges)
            {
                *proto.add_point_data() = ToProto(range);
            }
            for (const float intensity : timed_point_cloud_data.intensities)
            {
                proto.add_intensities(intensity);
            }
            return proto;
        }

        TimedPointCloudData FromProto(const proto::TimedPointCloudData &proto)
        {
            CHECK(proto.intensities().size() == 0 || proto.intensities().size() == proto.point_data().size());
            TimedPointCloud timed_point_cloud;
            if (proto.point_data().size() > 0)
            {
                timed_point_cloud.reserve(proto.point_data().size());
                for (const auto &timed_point_proto : proto.point_data())
                {
                    timed_point_cloud.push_back(FromProto(timed_point_proto));
                }
            }
            else
            {
                timed_point_cloud.reserve(proto.point_data_legacy().size());
                for (const auto &timed_point_proto : proto.point_data_legacy())
                {
                    const Eigen::Vector4f timed_point = transform::ToEigen(timed_point_proto);
                    timed_point_cloud.push_back({timed_point.head<3>(), timed_point[3]});
                }
            }
            return TimedPointCloudData{common::FromUniversal(proto.timestamp()), transform::ToEigen(proto.origin()), timed_point_cloud,
                                       std::vector<float>(proto.intensities().begin(), proto.intensities().end())};
        }

    } // namespace sensor
} // namespace cartographer
